CN103738739A - Method and system for preventing stackers or reclaimers from colliding each other - Google Patents
Method and system for preventing stackers or reclaimers from colliding each other Download PDFInfo
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- CN103738739A CN103738739A CN201410008549.5A CN201410008549A CN103738739A CN 103738739 A CN103738739 A CN 103738739A CN 201410008549 A CN201410008549 A CN 201410008549A CN 103738739 A CN103738739 A CN 103738739A
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Abstract
The invention discloses a method and a system for preventing stackers or reclaimers from colliding each other. The method includes establishing a plane-coordinate system of a storage yard where the stackers or reclaimers are located; setting a plurality of sampling points in the length direction of a cantilever of each stacker or reclaimer; setting a body trace point on a body of each stacker or reclaimer; acquiring the coordinate of the body trace point of each stacker or reclaimer in the plane-coordinate system; calculating a coordinate distance between the body trace points of any two stackers or reclaimers; calculating a ground projection coordinate of each of a plurality of the sampling points of each stacker or reclaimer; calculating the distance between the ground projection coordinate of any sampling point on one of the stackers or reclaimers and the ground projection coordinate of any sampling point on the other of the stackers or reclaimers when the coordinate distance between the body trace points of two stackers or reclaimers is smaller than the safe distance; outputting alarm when the distance between the ground projection coordinates of two sampling points is smaller than the alarm distance.
Description
Technical field
The present invention relates to monitoring field, particularly, relate to a kind of method and system for preventing that heap/reclaimer from colliding each other.
Background technology
Because stocker and reclaimer are all main equipments rotatable and walking, in same stockyard, stocker cantilever and reclaimer cantilever have very long one section of length areas that may bump, if heap, reclaimer are in the process of revolution and walking, do not notice distance each other, particularly at night and under the lower weather condition of visbility, probably there is collision mutually, the economic asset loss causing will be very huge, so design a set of reasonable actv. collision avoidance system, is considerable.
Stocker and reclaimer itself are exactly a three-dimensional stereoeffect, collision between them is also to occur in three dimensional space, yet consider from the each side such as irregularity, PLC computing ability and programming difficulty of cantilever design, control system is the space minor increment that cannot calculate exactly heap, reclaimer, therefore, must be simplified the model of heap, reclaimer.
Summary of the invention
The object of the present invention is to provide a kind of method and system for preventing that heap/reclaimer from colliding each other, can calculate the minor increment between heap/reclaimer and report to the police by the sampling point of heap/reclaimer being projected to ground.
According to an aspect of the present invention, provide a kind of method for preventing that heap/reclaimer from colliding each other, the method comprises the following steps: step 1, the plane coordinate system in the stockyard at foundation heap/reclaimer place; Step 2 arranges a plurality of sample points described in each on the length direction of the cantilever of heap/reclaimer; Step 3 arranges fuselage trace point described in each on the fuselage of heap/reclaimer; Step 4, obtains the described fuselage trace point of heap/reclaimer described in each at the coordinate of described plane coordinate system; Step 5, calculates the coordinate distance between the described fuselage trace point of any two described heap/reclaimers; Step 6, according to the coordinate of the luffing angle of the cantilever separately of described each heap/reclaimer, degreeof turn and described fuselage trace point, calculates each the ground projection coordinate in described a plurality of sample points of heap/reclaimer described in each; Step 7, in the time that the coordinate distance between the described fuselage trace point of two heap/reclaimers is less than safety distance, calculate the distance between the ground projection coordinate of any one sample point on one of them heap/reclaimer and the ground projection coordinate of any one sample point on another one heap/reclaimer; And step 8, output alarm when having two distances between the ground projection coordinate between described sample point to be less than alarm distance.
According to the preferred embodiment of the present invention, when the jib-length in described heap/reclaimer with the heap/reclaimer of long cantilever is L, described safety distance is 2L.
According to the preferred embodiment of the present invention, described in each, sampling point is arranged on the axis of length direction of cantilever of described heap/reclaimer equidistantly.
According to the preferred embodiment of the present invention, the coordinate distance between described fuselage trace point be less than safety distance the width of cantilever of two heap/reclaimers be respectively W
1and W
2, the distance on same cantilever between adjacent described sampling point is that R and technological requirement alarm distance are D
1time, actual alarm distance D
2coincidence formula:
According to the preferred embodiment of the present invention, step 4 to the performance period of step 8 is 0.5-1 second.
According to the preferred embodiment of the present invention, for preventing that the method that heap/reclaimer collides each other from also comprising the operation that stops the heap/reclaimer at these two sample point places when having two distances between the ground projection coordinate between described sample point to be less than alarm distance.
According to a further aspect of the invention, a kind of system for preventing that heap/reclaimer from colliding is each other provided, this system comprises: registration device, for the fuselage trace point that obtains each heap/reclaimer, at the coordinate on ground and according to the coordinate of the luffing angle of the cantilever separately of described each heap/reclaimer, degreeof turn and described fuselage trace point, calculate each the ground projection coordinate in described a plurality of sample points of heap/reclaimer described in each; Computer device, for calculating the distance between the described fuselage trace point of any two heap/reclaimers, and in the time that the distance between the described fuselage trace point of two heap/reclaimers is less than safety distance, calculate the distance between the ground projection coordinate of any one sample point on one of them heap/reclaimer and the ground projection coordinate of any one sample point on another one heap/reclaimer; And warning device, for output alarm when having two distances between the ground projection coordinate between described sample point to be less than alarm distance.
According to the preferred embodiment of the present invention, when the jib-length in described heap/reclaimer with the heap/reclaimer of long cantilever is L, described safety distance is 2L.
According to the preferred embodiment of the present invention, the coordinate distance between described fuselage trace point be less than safety distance the width of cantilever of two heap/reclaimers be respectively W
1and W
2, the distance on same cantilever between adjacent described sampling point is that R and technological requirement alarm distance are D
1time, actual alarm distance is D
2coincidence formula:
According to the preferred embodiment of the present invention, for preventing that the system that heap/reclaimer collides each other from also comprising executive device, for stop the operation of the heap/reclaimer at these two sample point places when having two distances between the ground projection coordinate between described sample point to be less than alarm distance.
Provided by the inventionly for preventing that method and system that heap/reclaimer collides each other from having adopted, heap/reclaimer cantilever is projected to stockyard plane coordinate system, to sampling point, the subpoint in plane coordinate system calculates and gets the anticollision scheme of lowest distance value again, as long as guarantee that heap/reclaimer planar keeps certain distance, just can avoid occurring space collision, thereby can provide, safely and steadily run environment.
Accompanying drawing explanation
Fig. 1 is for preventing the logic diagram of the method that heap/reclaimer collides each other according to provided by the invention;
Fig. 2 is stockyard plane coordinate system schematic diagram according to the preferred embodiment of the present invention;
Fig. 3 is for preventing the structured flowchart of the system that heap/reclaimer collides each other according to provided by the invention; And
Fig. 4 be according to the preferred embodiment of the present invention for preventing the structured flowchart of the system that heap/reclaimer collides each other.
Description of reference numerals
10 registration device 20 computer devices
30 warning device 40 executive devices
The specific embodiment
Below with reference to accompanying drawing, describe the present invention in detail.
As shown in Figure 1, the invention provides a kind of for method, the method comprises the following steps: S1, set up the plane coordinate system in the stockyard at heap/reclaimer place; S2 arranges a plurality of sample points on the length direction of the cantilever of each heap/reclaimer; S3 arranges fuselage trace point described in each on the fuselage of heap/reclaimer; S4, obtains the described fuselage trace point of heap/reclaimer described in each at the coordinate of described plane coordinate system; S5, calculates the coordinate distance between the described fuselage trace point of any two described heap/reclaimers; S6, according to the coordinate of the luffing angle of the cantilever separately of described each heap/reclaimer, degreeof turn and described fuselage trace point, calculates each the ground projection coordinate in described a plurality of sample points of heap/reclaimer described in each; S7, judges whether the coordinate distance between the described fuselage trace point of two heap/reclaimers is less than safety distance; S8, when judgment result is that while being, calculates the distance between the ground projection coordinate of any one sample point on one of them heap/reclaimer and the ground projection coordinate of any one sample point on another one heap/reclaimer; S9, judges whether that two distances between the ground projection coordinate between described sample point are less than alarm distance; And S10, when judgment result is that output alarm signal while being.
Wherein, in order to there is not negative coordinate in computation process, initial point can be arranged on to the northwest corner in stockyard as shown in Figure 2.Preferably, for convenience of calculation, described in each, sampling point is arranged on the axis of length direction of cantilever of described heap/reclaimer equidistantly.Therefore described in each, sampling point setting position is known and fixing, and in each heap/reclaimer, the straight-line distance of sampling point and its fuselage trace point is known described in each on its cantilever.Therefore can calculate the coordinate that each sampling point is fastened at plane coordinates according to projection theory.
For example,, in the embodiment shown in Fig. 2, on the vertical plane of the axis of length direction that the fuselage trace point of heap/reclaimer is arranged on its cantilever for fuselage base.A sampling point A on the cantilever of certain stocker and the straight-line distance of its fuselage trace point are 8m, when the fuselage trace point of 4# stocker is (0 at the coordinate of plane coordinate system, 24), the cantilever of heap/reclaimer is faced upward 30 ° and gyratory directions while being 45 ° of souths by west, the subpoint A1 range coordinate point (0 that sampling point A fastens at plane coordinates, 24) distance is about 6.9m, so the coordinate of sampling point A is
i.e. (4.9,7.1).
According to the preferred embodiment of the present invention, when the jib-length in described heap/reclaimer with the heap/reclaimer of long cantilever is L, described safety distance is 2L.For example, certain coal harbour has large reclaimer, little reclaimer and stocker, and wherein the jib-length of large reclaimer is 60m, and safety distance is 120m.That is to say, when the coordinate distance between the described fuselage trace point of two heap/reclaimers is not less than 120m, needn't calculates the distance between the two sample point, thereby reduce calculated amount.
Be understandable that, between the sample point on same cantilever axis, distance is less, more accurate, but corresponding calculated amount is larger.Therefore, can suitably select the distance between sample point according to error allowed band.
According to the preferred embodiment of the present invention, the coordinate distance between described fuselage trace point be less than safety distance the width of cantilever of two heap/reclaimers be respectively W
1and W
2, the distance on same cantilever between adjacent described sampling point is that R and technological requirement alarm distance are D
1time, actual alarm distance D
2coincidence formula:
Wherein, the safety management rule that technological requirement alarm distance can stockyard is determined, also can be determined by industry standard.For example, in one embodiment, technological requirement alarm distance is 8 meters, and the distance between the sample point of each heap/reclaimer is set to 15m.Wherein, P1 and P2 are two the adjacent sample points on the cantilever axis of reclaimer P, and the cantilever width of reclaimer P is 9m; Q1 is a sample point on the cantilever axis of stocker Q, and the cantilever width of stocker Q is 6m.Along with the movement of reclaimer P and stocker Q, when equating, the distance of Q1 distance P 1 and P2 there will be maximum error.Consider that sampling point arrives the distance of cantilever edge, namely 1/2nd of reclaimer P and stocker Q cantilever width separately, actual alarm distance should be:
Be understandable that, step S4 is shorter to the performance period of step S8, more accurate, but corresponding calculated amount is larger.According to the preferred embodiment of the present invention, step S4 to the performance period of step S8 be 0.5-1 second.
Preferably, according to of the present invention for preventing that the method that heap/reclaimer collides each other from also comprising the operation that stops the heap/reclaimer at these two sample point places when having two distances between the ground projection coordinate between described sample point to be less than alarm distance.
As shown in Figure 3, according to a further aspect of the invention, a kind of system for preventing that heap/reclaimer from colliding is each other provided, this system comprises: registration device 10, for the described fuselage trace point that obtains described each heap/reclaimer, at the coordinate on ground and according to the coordinate of the luffing angle of the cantilever separately of described each heap/reclaimer, degreeof turn and described fuselage trace point, calculate each the ground projection coordinate in described a plurality of sample points of heap/reclaimer described in each; Computer device 20, be connected with described registration device 10, for calculating the distance between the described fuselage trace point of any two heap/reclaimers, and in the time that the distance between the described fuselage trace point of two heap/reclaimers is less than safety distance, calculate the distance between the ground projection coordinate of any one sample point on one of them heap/reclaimer and the ground projection coordinate of any one sample point on another one heap/reclaimer; And warning device 30, be connected with described computer device 20, for output alarm when having two distances between the ground projection coordinate between described sample point to be less than alarm distance.
For example, computer device 20 can be the treater that is positioned at Central Control Room, and in stockyard, each heap/reclaimer is numbered, and the position of the sampling point arranging on each heap/reclaimer cantilever is stored in this treater.Treater receives the coordinate position of fuselage trace point and the luffing angle of cantilever and the degreeof turn of each heap/reclaimer on stockyard by fieldbus or wireless network, thereby calculate the distance between the fuselage trace point of any two heap/reclaimers, and in the time that the distance between the fuselage trace point of two heap/reclaimers is less than safety distance, calculate the distance between the ground projection coordinate of any one sample point on one of them heap/reclaimer and the ground projection coordinate of any one sample point on another one heap/reclaimer.
In another embodiment, divisional processing device can when arranging total treater, Central Control Room be set in each heap/reclaimer.Wherein each divisional processing device according to the coordinate of the fuselage trace point of the heap/reclaimer at self place with and the luffing angle of cantilever and the plane coordinates that degreeof turn calculates each sampling point on its cantilever, and send to total treater for ensuing calculating on the coordinate of the coordinate of its fuselage trace point and each sampling point.
Preferably, described warning device 30 can be the annunciator being connected with computer device 20, by the form alert of voice; Or the telltale being connected with computer device 20, for display alarm information.
According to the preferred embodiment of the present invention, when the jib-length in described heap/reclaimer with the heap/reclaimer of long cantilever is L, described safety distance is 2L.
According to the preferred embodiment of the present invention, the coordinate distance between described fuselage trace point be less than safety distance the width of cantilever of two heap/reclaimers be respectively W
1and W
2, the distance on same cantilever between adjacent described sampling point is that R and technological requirement alarm distance are D
1time, actual alarm distance is D
2coincidence formula:
Preferably, as shown in Figure 4, according to of the present invention for preventing that the system that heap/reclaimer collides each other from also comprising the executive device 40 being connected with described computer device 20, for stop the operation of the heap/reclaimer at these two sample point places when having two distances between the ground projection coordinate between described sample point to be less than alarm distance.
Provided by the invention for preventing that method and system that heap/reclaimer collides are each other by setting up the plane coordinate system in stockyard, the projection coordinate that the fuselage trace point of heap/reclaimer and sampling point are fastened at this plane coordinates, thereby will be reduced to the some points in plane to solid space, greatly simplify calculating providing when safely and steadily running environment, saved processing time and cost.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition each the concrete technical characterictic described in the above-mentioned specific embodiment, in reconcilable situation, can combine by any suitable mode.For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, between various embodiment of the present invention, also can carry out combination in any, as long as it is without prejudice to thought of the present invention, it should be considered as full content disclosed in this invention equally.
Claims (10)
1. the method for preventing that heap/reclaimer from colliding each other, the method comprises the following steps:
Step 1, the plane coordinate system in the stockyard at foundation heap/reclaimer place;
Step 2 arranges a plurality of sample points described in each on the length direction of the cantilever of heap/reclaimer;
Step 3 arranges fuselage trace point described in each on the fuselage of heap/reclaimer;
Step 4, obtains the described fuselage trace point of heap/reclaimer described in each at the coordinate of described plane coordinate system;
Step 5, calculates the coordinate distance between the described fuselage trace point of any two described heap/reclaimers;
Step 6, according to the coordinate of the luffing angle of the cantilever separately of described each heap/reclaimer, degreeof turn and described fuselage trace point, calculates each the ground projection coordinate in described a plurality of sample points of heap/reclaimer described in each;
Step 7, in the time that the coordinate distance between the described fuselage trace point of two heap/reclaimers is less than safety distance, calculate the distance between the ground projection coordinate of any one sample point on one of them heap/reclaimer and the ground projection coordinate of any one sample point on another one heap/reclaimer; And
Step 8, output alarm when having two distances between the ground projection coordinate between described sample point to be less than alarm distance.
2. method according to claim 1, when the jib-length wherein in described heap/reclaimer with the heap/reclaimer of long cantilever is L, described safety distance is 2L.
3. method according to claim 1, wherein described in each, sampling point is arranged on the axis of length direction of cantilever of described heap/reclaimer equidistantly.
4. method according to claim 3, wherein when the coordinate distance between described fuselage trace point be less than safety distance the width of cantilever of two heap/reclaimers be respectively W
1and W
2, the distance on same cantilever between adjacent described sampling point is that R and technological requirement alarm distance are D
1time, actual alarm distance D
2coincidence formula:
5. method according to claim 1, wherein step 4 to the performance period of step 8 is 0.5-1 second.
6. method according to claim 1, also comprises the operation that stops the heap/reclaimer at these two sample point places when having two distances between the ground projection coordinate between described sample point to be less than alarm distance.
7. the system for preventing that heap/reclaimer from colliding each other, this system comprises:
Registration device, for the fuselage trace point that obtains each heap/reclaimer, at the coordinate on ground and according to the coordinate of the luffing angle of the cantilever separately of described each heap/reclaimer, degreeof turn and described fuselage trace point, calculate each the ground projection coordinate in described a plurality of sample points of heap/reclaimer described in each;
Computer device, for calculating the distance between the described fuselage trace point of any two heap/reclaimers, and in the time that the distance between the described fuselage trace point of two heap/reclaimers is less than safety distance, calculate the distance between the ground projection coordinate of any one sample point on one of them heap/reclaimer and the ground projection coordinate of any one sample point on another one heap/reclaimer; And
Warning device, for output alarm when having two distances between the ground projection coordinate between described sample point to be less than alarm distance.
8. system according to claim 7, when the jib-length wherein in described heap/reclaimer with the heap/reclaimer of long cantilever is L, described safety distance is 2L.
9. system according to claim 8, wherein when the coordinate distance between described fuselage trace point be less than safety distance the width of cantilever of two heap/reclaimers be respectively W
1and W
2, the distance on same cantilever between adjacent described sampling point is that R and technological requirement alarm distance are D
1time, actual alarm distance is D
2coincidence formula:
10. system according to claim 7, also comprises executive device, for stop the operation of the heap/reclaimer at these two sample point places when having two distances between the ground projection coordinate between described sample point to be less than alarm distance.
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| CN201410008549.5A CN103738739B (en) | 2014-01-08 | 2014-01-08 | For the method and system preventing heap/reclaimer impinging one another |
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Cited By (12)
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|---|---|---|---|---|
| CN103922150A (en) * | 2014-04-29 | 2014-07-16 | 中交机电工程局有限公司 | Anti-collision system and method of bulk cargo storage yard stand-alone equipment |
| CN104609207A (en) * | 2015-01-07 | 2015-05-13 | 泰富重工制造有限公司 | Anti-collision control method for stock yard stacker-reclaimers |
| CN104952283A (en) * | 2015-04-28 | 2015-09-30 | 中交一航局安装工程有限公司 | DGPS (differential global positioning system) anti-collision system of mobile machines of bulk cargo terminal storage yard |
| CN105501885A (en) * | 2015-12-31 | 2016-04-20 | 中国神华能源股份有限公司 | Position detection system and method for stacker-reclaimer |
| CN105668258A (en) * | 2015-12-29 | 2016-06-15 | 中国神华能源股份有限公司 | Anti-collision method and system for material taking machines |
| CN106064745A (en) * | 2016-06-30 | 2016-11-02 | 泰富重工制造有限公司 | A kind of cantilever collision prevention device and system |
| CN107578154A (en) * | 2017-08-25 | 2018-01-12 | 武汉理工大学 | A kind of method for optimizing scheduling of stacker-reclaimer |
| CN110221574A (en) * | 2019-06-10 | 2019-09-10 | 中国神华能源股份有限公司 | The method and system of single machine anticollision |
| CN110834966A (en) * | 2019-12-11 | 2020-02-25 | 华电重工股份有限公司 | Stacker-reclaimer cantilever anticollision detection device and have its stacker-reclaimer cantilever |
| CN111003540A (en) * | 2019-11-27 | 2020-04-14 | 神华粤电珠海港煤炭码头有限责任公司 | Ship unloaders anti-collision method, system, equipment and storage medium |
| CN113291845A (en) * | 2020-09-27 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Anti-collision method and system for stacker-reclaimer |
| CN110834966B (en) * | 2019-12-11 | 2024-05-03 | 华电重工股份有限公司 | Stacker-reclaimer cantilever anticollision detection device and stacker-reclaimer cantilever that has it |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103922150A (en) * | 2014-04-29 | 2014-07-16 | 中交机电工程局有限公司 | Anti-collision system and method of bulk cargo storage yard stand-alone equipment |
| CN104609207A (en) * | 2015-01-07 | 2015-05-13 | 泰富重工制造有限公司 | Anti-collision control method for stock yard stacker-reclaimers |
| CN104952283A (en) * | 2015-04-28 | 2015-09-30 | 中交一航局安装工程有限公司 | DGPS (differential global positioning system) anti-collision system of mobile machines of bulk cargo terminal storage yard |
| CN105668258A (en) * | 2015-12-29 | 2016-06-15 | 中国神华能源股份有限公司 | Anti-collision method and system for material taking machines |
| CN105501885A (en) * | 2015-12-31 | 2016-04-20 | 中国神华能源股份有限公司 | Position detection system and method for stacker-reclaimer |
| CN106064745A (en) * | 2016-06-30 | 2016-11-02 | 泰富重工制造有限公司 | A kind of cantilever collision prevention device and system |
| CN106064745B (en) * | 2016-06-30 | 2019-03-19 | 泰富重工制造有限公司 | A kind of cantilever collision prevention device and system |
| CN107578154B (en) * | 2017-08-25 | 2020-09-01 | 武汉理工大学 | Scheduling optimization method of stacker-reclaimer |
| CN107578154A (en) * | 2017-08-25 | 2018-01-12 | 武汉理工大学 | A kind of method for optimizing scheduling of stacker-reclaimer |
| CN110221574A (en) * | 2019-06-10 | 2019-09-10 | 中国神华能源股份有限公司 | The method and system of single machine anticollision |
| CN110221574B (en) * | 2019-06-10 | 2021-05-11 | 中国神华能源股份有限公司 | Single-machine anti-collision method and system |
| CN111003540A (en) * | 2019-11-27 | 2020-04-14 | 神华粤电珠海港煤炭码头有限责任公司 | Ship unloaders anti-collision method, system, equipment and storage medium |
| CN111003540B (en) * | 2019-11-27 | 2021-08-06 | 神华粤电珠海港煤炭码头有限责任公司 | Ship unloaders anti-collision method, system, equipment and storage medium |
| CN110834966A (en) * | 2019-12-11 | 2020-02-25 | 华电重工股份有限公司 | Stacker-reclaimer cantilever anticollision detection device and have its stacker-reclaimer cantilever |
| CN110834966B (en) * | 2019-12-11 | 2024-05-03 | 华电重工股份有限公司 | Stacker-reclaimer cantilever anticollision detection device and stacker-reclaimer cantilever that has it |
| CN113291845A (en) * | 2020-09-27 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Anti-collision method and system for stacker-reclaimer |
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